#pragma once

#ifdef __cplusplus
extern "C" {
#endif

#include <cmsis_os2.h>
#include "FreeRTOS.h"
#include "task.h"

// 定义任务运行时结构体
typedef struct {
    /* 各任务，也可以叫做线程 */
    struct {
        osThreadId_t ps2;
        osThreadId_t test1;
		osThreadId_t atti_esti;
		osThreadId_t height_cal;
		osThreadId_t main_control;
    } thread;

    /* USER MESSAGE BEGIN */

    struct {
        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
		
	
      osMessageQueueId_t accl;     /* IMU读取 */
      osMessageQueueId_t gyro;     /* IMU读取 */
      osMessageQueueId_t eulr_imu; /* 姿态解算得到 */

	  osMessageQueueId_t baro_height;/*气压计海拔高度*/
    
	  osMessageQueueId_t fixed_height;/*融合高度*/
	  osMessageQueueId_t speed_z;/*融合高度*/
	  osMessageQueueId_t rc;/*遥控器数据*/
   
    } msgq;

    /* USER MESSAGE END */

  struct {
    UBaseType_t ps2;
	UBaseType_t test1;
	UBaseType_t atti_esti;
	UBaseType_t height_cal;
	UBaseType_t main_control;

  } stack_water_mark; /* stack使用 */

  struct {
    float ps2;
	float test1;
	float atti_esti;
	float height_cal;
	float main_control;
  } freq; /* 任务运行频率 */

  struct {
    float ps2;
    float test1;
	float atti_esti;
	float height_cal;
	float main_control;
  } last_up_time; /* 任务最近运行时间 */

} Task_Runtime_t;

// 任务频率
#define TASK_FREQ_PS2 (20u)
#define TASK_FREQ_TEST1 (40u)
#define TASK_FREQ_ATTI_ESTI (400u)
#define TASK_FREQ_HEIGHT_CAL (200u)
#define TASK_FREQ_MAIN_CONTROL (500u)
// 任务初始化延时
#define TASK_INIT_DELAY (100u)
#define TASK_INIT_DELAY_PS2 (0u)
#define TASK_INIT_DELAY_TEST1 (0u)
#define TASK_INIT_DELAY_ATTI_ESTI (0u)
#define TASK_INIT_DELAY_HEIGHT_CAL (500u)
#define TASK_INIT_DELAY_MAIN_CONTROL (500u)


// 任务句柄
typedef struct {
    osThreadId_t ps2;
	osThreadId_t test1;
	osThreadId_t atti_esti;
	osThreadId_t height_cal;
	osThreadId_t main_control;
} Task_Handles_t;

// 任务运行时结构体
extern Task_Runtime_t task_runtime;
extern Task_Handles_t task_handle;
// 初始化任务句柄
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_ps2;
extern const osThreadAttr_t attr_test1;
extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_height_cal;
extern const osThreadAttr_t attr_main_control;

// 任务函数声明
void Task_Init(void *argument);
void Task_ps2(void *argument);
void Task_test1(void *argument);
void Task_atti_esti(void *argument);
void Task_height_cal(void *argument);
void Task_main_control(void *argument);
#ifdef __cplusplus
}
#endif
